| Instructor(s) | Dr. Mohamad Shahab [Coordinator] Office: ENG451 Phone: (416) 979-5000 x 556686 Email: mshahab@torontomu.ca Office Hours: 1-2 PM on Tuesdays and Wednesdays; also available other times by appointment | ||||||||||||||
| Calendar Description | This course deals with practical techniques for the specification, design and implementation of real-time computer control systems. Topics include: overview of computer control strategies; introduction to real-time systems; hardware and software requirements; implementation of digital control algorithms; design of real-time computer control systems; design analysis; considerations for fault detection and fault tolerance. The lab work and project require solid background in C programming. | ||||||||||||||
| Prerequisites | ELE 639 or MEC 830 | ||||||||||||||
| Antirequisites | None | ||||||||||||||
| Corerequisites | None | ||||||||||||||
| Compulsory Text(s): |
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| Reference Text(s): |
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| Learning Objectives (Indicators) | At the end of this course, the successful student will be able to:
NOTE:Numbers in parentheses refer to the graduate attributes required by the Canadian Engineering Accreditation Board (CEAB). | ||||||||||||||
| Course Organization | 3.0 hours of lecture per week for 13 weeks | ||||||||||||||
| Teaching Assistants |
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| Course Evaluation |
Note: In order for a student to pass a course, a minimum overall course mark of 50% must be obtained. In addition, for courses that have both "Theory and Laboratory" components, the student must pass the Laboratory and Theory portions separately by achieving a minimum of 50% in the combined Laboratory components and 50% in the combined Theory components. Please refer to the "Course Evaluation" section above for details on the Theory and Laboratory components (if applicable). | ||||||||||||||
| Examinations |
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| Other Evaluation Information | Lab work:
Project: Various parts of the project must be demonstrated, and results must be submitted according to the guidelines in the project document. Lab/project attendance is mandatory. Each student must attend the lab/project session on the day and at the time specified for their section. | ||||||||||||||
| Teaching Methods |
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| Other Information | Announcements, including exam information, will be announced in class and posted to the course shell on D2L (https://courses.torontomu.ca). Email policy: In accordance with the Policy on TMU Student E-mail Accounts (Policy 157), the university requires that any electronic communication by students to TMU faculty or staff be sent from their official university email account. Use of GenAI: Students may use Generative AI (e.g. ChatGPT, Grammarly, Perplexity) only for minor grammar correction. This includes translating individual words and correcting spelling, punctuation and basic grammar issues. Failure to stay within these limits will be considered a breach of Policy 60. | ||||||||||||||
Week | Hours | Chapters / | Topic, description |
|---|---|---|---|
Week 1 | 3 | Introduction to computer control systems, concepts of computer control, classes of industrial process control systems | |
Weeks 2 & 3 | 6 | Hardware and software requirements: general-purpose computers, specialized processors, external interfaces, A/D and D/A conversion, data transfer techniques, data communications techniques, real-time operating systems, computer languages for real-time applications | |
Weeks 4 & 5 | 3 | Concurrent programming: processes and threads, process/thread life cycle, multi-threaded programming with POSIX threads (Pthreads), thread synchronization and communication, semaphores, mutexes, condition variables | |
Week 6 | 3 | Digital control systems: design and implementation of digital controllers, review of discrete-time signal sampling, difference equations, discrete transfer function, z-transform, PID controller design and digital implementation, saturation and integrator wind-up, discretization of continuous-time controllers, control loop synchronization, choice of sampling period, effects of latency and timing jitters on control performance, quantization effects | |
==== | ==== | No classes during the week of 16 Feb (Study/reading week) | |
Week 7 | 3 | Digital control systems (continued) | |
Week 8 | 3 | Digital control systems (continued) | |
Week 9 | 2 | Design of real-time computer control systems, software life cycle planning, analysis and specifications, approaches to real-time software design, tasking design | |
Week 9-11 | 7 | Scheduling of real-time control tasks: cyclic executives, basic rate monotonic scheduling, earliest deadline first, basic response-time analysis, task blocking, transitive blocking, priority inversion, priority inheritance, priority ceiling, immediate priority ceiling, extended rate monotonic scheduling, response-time analysis with blocking starvation, deadlock | |
Week 12 | 3 | Real-time application interface programming, real-time task creation, periodic and aperiodic tasks, interrupt service, routine scheduling policies | |
Week 13 | 3 | Review |
Week | L/T/A | Description |
|---|---|---|
Week 1 | No Lab | No Lab |
Week 2 | Lab 1 | C Review |
Week 3 | Lab 2 | Time and Clocks |
Week 4 | Lab 3 | POSIX Threads and Concurrent Programming |
Week 5 | Lab 3 | POSIX Threads and Concurrent Programming (continued) |
Week 6 | Lab 4 | Resource Sharing and Coordination |
=== | === | No labs during the week of 16 Feb (Study/reading week) |
Week 7 | Lab 5 | Task Synchronization and Communication |
Week 8 | Lab 5 | Task Synchronization and Communication (continued) |
Week 9 | Project | Digital PID Controller |
Week 10 | Project | Digital PID Controller (continued) |
Week 11 | Project | Digital PID Controller (continued) |
Week 12 | Project | Digital PID Controller (continued) |
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